The bending of light as it passes from one transparent medium to another medium is called refraction of light.
Laws of refraction:
The incident ray, the normal and the refracted ray all lie in the same plane
The ray of light bends towards the normal when it passes from a rarer medium to a denser medium and away from the normal when it passes from denser medium to rarer medium.
If a ray of light travels normally (< i = 0), it goes straight.